Door control method, vehicle and storage medium

Abstract

The present application provides a door control method, a vehicle, and a storage medium. When a power-off signal of the vehicle is detected, target information is obtained and stored, wherein the target information is used to determine whether there are obstacles around the door. In this way, when the vehicle is powered on and a control command for the door is detected, the target information stored when the vehicle was powered off last time can be obtained to obtain obstacle information, and the control command is executed according to the obstacle information. Since the position of the vehicle does not change after powering off and before powering on, it can be assumed that obstacles near the door when powering off are still near the door after powering on. In this way, the above method can restore the scene before powering off after the vehicle is powered on, and when the sensor fails to work properly, the obstacle information can be obtained through the target information stored before powering off, thereby improving the obstacle avoidance effect of the door when the sensor is initialized.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a door control method, a vehicle and a storage medium. Background Art

[0002] With the development of vehicles and the improvement of people's intelligent life level, more and more vehicles have the function of automatic door opening and closing. Especially for vehicles equipped with scissor doors, because of the heavy weight of scissor doors, scissor doors often have the function of automatic opening and closing. Usually, doors with automatic opening and closing functions also have obstacle avoidance functions. Vehicles are usually equipped with various sensors to realize the obstacle avoidance function when the doors are automatically opened and closed. In the related technology, when the vehicle is powered on, the sensors carried by the vehicle need to be started and initialized. However, the startup and initialization of some sensors used to realize the obstacle avoidance function of the door takes a long time, resulting in a significant decrease in the obstacle avoidance function of the door during this period, which may cause the door to collide with obstacles and cause damage. Summary of the invention

[0003] The present application provides a vehicle door control method, a vehicle and a storage medium, which can improve the obstacle avoidance effect of the vehicle door when the sensor is initialized.

[0004] According to a first aspect of the present application, a vehicle door control method is provided, the method comprising:

[0005] In response to a power-off signal of the vehicle, acquiring and storing target information; wherein the target information is used to determine whether there is an obstacle around the vehicle door;

[0006] In response to a power-on signal of the vehicle and a control instruction of the vehicle door, acquiring the stored target information to acquire obstacle information around the vehicle door;

[0007] The control instruction is executed based on the obstacle information.

[0008] In some examples, the target information includes obstacle information around the vehicle door; and in response to a power-off signal of the vehicle, acquiring and storing the target information includes:

[0009] In response to a power-off signal of the vehicle, obtaining obstacle information around the door based on a sensor carried by the vehicle, and storing the obstacle information; and / or

[0010] In response to a power-off signal of the vehicle, obstacle information around the vehicle door is obtained from other devices equipped with a V2X communication device based on the V2X communication device carried by the vehicle, and the obstacle information is stored.

[0011] In some examples, in response to a power-off signal of the vehicle, obtaining obstacle information around the door based on a sensor carried by the vehicle, and storing the obstacle information includes:

[0012] In response to a power-off signal of the vehicle, calling the sensor to obtain and store obstacle information around the door; and / or

[0013] In response to a power-off signal of the vehicle, obstacle information acquired based on the sensor when controlling the door to be opened or closed is stored.

[0014] In some examples, in response to a power-off signal of the vehicle, calling the sensor to obtain and store obstacle information around the door includes:

[0015] In response to a power-off signal of the vehicle, calling the sensor and storing obstacle information acquired by the sensor in a non-volatile memory;

[0016] The storing, in response to a power-off signal of the vehicle, obstacle information acquired based on the sensor when controlling the door to be opened or closed comprises:

[0017] When controlling the vehicle door to be opened or closed, storing obstacle information acquired based on the sensor in a volatile memory;

[0018] In response to a power-off signal of the vehicle, the obstacle information in the volatile memory is stored in a non-volatile memory.

[0019] In some examples, after storing the obstacle information in the volatile memory, the method further includes:

[0020] In response to a driving instruction of the vehicle, the obstacle information stored in the volatile memory is deleted.

[0021] In some examples, the vehicle and surrounding fixed equipment are equipped with V2X communication devices, and storing the obstacle information includes:

[0022] sending the obstacle information to the fixed device through the V2X communication device, so as to store the obstacle information in the fixed device;

[0023] The step of acquiring the stored target information to acquire the obstacle information includes:

[0024] sending an information request to the fixed device through the V2X communication device;

[0025] Obstacle information sent by the fixed device in response to the information request is received through the V2X communication device.

[0026] In some examples, the sensor includes at least an image acquisition device; and obtaining obstacle information around the door based on the sensor carried by the vehicle includes:

[0027] Performing image recognition on the image captured by the image acquisition device to identify obstacles around the vehicle door;

[0028] The information of the fixed obstacles among the identified obstacles is determined as the obstacle information.

[0029] In some examples, the vehicle and surrounding fixed equipment are equipped with V2X communication devices; the target information includes identification information of the fixed equipment; and the step of acquiring the stored target information to acquire the obstacle information includes:

[0030] Obtain identification information of stored fixed devices;

[0031] sending, by the V2X communication device, an information request to the fixed device indicated by the identification information;

[0032] Obstacle information sent by the fixed device in response to the information request is received through the V2X communication device.

[0033] In some examples, executing the control instruction based on the obstacle information includes:

[0034] If the obstacle information indicates that the distance between the vehicle door and the obstacle is greater than a preset threshold, executing the control instruction;

[0035] If the obstacle information indicates that the distance is less than the threshold, stop executing the control instruction.

[0036] According to a second aspect of the present application, a vehicle is provided, the vehicle comprising:

[0037] Car body;

[0038] A power assembly, used to drive the vehicle to move;

[0039] Car doors;

[0040] processor;

[0041] a memory for storing processor-executable instructions;

[0042] Wherein, when the processor calls the executable instruction, it implements the operation of any method described in the first aspect above.

[0043] According to a third aspect of the present application, a computer-readable storage medium is provided, on which a number of computer instructions are stored. When the computer instructions are executed, any method described in the first aspect is performed.

[0044] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0045] The present application provides a door control method, a vehicle and a storage medium. When a power-off signal of the vehicle is detected, target information is obtained and stored, wherein the target information is used to determine whether there are obstacles around the door. In this way, when the vehicle is powered on and a control command for the door is detected, the target information stored when the vehicle was powered off last time can be obtained to obtain obstacle information, and the control command is executed according to the obstacle information. Since the position of the vehicle does not change after powering off and before powering on, it can be assumed that obstacles near the door when powering off are still near the door after powering on. In this way, the above method can restore the scene before powering off after the vehicle is powered on, and when the sensor fails to work properly, the obstacle information can be obtained through the target information stored before powering off, thereby improving the obstacle avoidance effect of the door when the sensor is initialized.

[0046] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in the specification and constitute a part of this application, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application.

[0048] Figure 1 It is a schematic diagram of the appearance of a vehicle according to an embodiment of the present application.

[0049] Figure 2 It is a flow chart of a vehicle door control method shown in the present application according to an embodiment.

[0050] Figure 3A This is a flow chart of a vehicle door control method according to another embodiment of the present application.

[0051] Figure 3B This is a flow chart of a vehicle door control method according to another embodiment of the present application.

[0052] Figure 3C This is a flow chart of a vehicle door control method according to another embodiment of the present application.

[0053] Figure 4 It is a schematic diagram of an application scenario shown in accordance with an embodiment of the present application.

[0054] Figure 5A This is a flow chart of a vehicle door control method according to another embodiment of the present application.

[0055] Figure 5B This is a flow chart of a vehicle door control method according to another embodiment of the present application.

[0056] Figure 5C This is a flow chart of a vehicle door control method according to another embodiment of the present application.

[0057] Figure 6 This is a flow chart of a vehicle door control method according to another embodiment of the present application.

[0058] Figure 7 This is a flow chart of a vehicle door control method according to another embodiment of the present application.

[0059] Figure 8 This is a flow chart of a vehicle door control method according to another embodiment of the present application.

[0060] Fig. 9 It is a hardware structure diagram of a vehicle door control device shown in this application according to one embodiment.

[0061] Fig.10 It is a structural schematic diagram of a vehicle door control device shown in this application according to an embodiment.

[0062] Fig.11 It is a hardware structure diagram of a vehicle shown in this application according to an embodiment. DETAILED DESCRIPTION

[0063] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0064] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0065] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0066] With the development of vehicles and the improvement of people's intelligent life level, more and more vehicles have the function of automatic door opening and closing. Especially vehicles equipped with scissor doors, that is, scissor-type doors, which open or close the doors in an up and down direction. Due to the heavy weight of scissor doors, scissor doors often have automatic opening and closing functions. For example, physical buttons can be set on the doors, and users can automatically open / close the doors by pressing and / or touching the physical buttons. For another example, a control device connected to the vehicle communication can be provided with door controls. The door controls can be physical buttons and / or virtual controls. The user automatically opens / closes the doors by triggering the door controls. The control device may include but is not limited to a dedicated vehicle remote control, a mobile phone with vehicle control software installed, a personal computer (PC), a tablet computer, or a wearable device, etc.

[0067] Usually, car doors with automatic opening and closing functions also have obstacle avoidance functions to prevent collisions with obstacles when the doors are opened and closed automatically. Vehicles are usually equipped with various sensors to realize the obstacle avoidance function of the car doors. For example, cameras, ultrasonic radars and other sensors can be installed on the car doors to detect obstacles around the car doors. For another example, sensors such as lidar and TOF (Time of Flight) cameras can also be installed in other parts of the vehicle to assist in detecting obstacles around the car doors. Combining the sensor data collected by multiple sensors, obstacles around the car doors can be effectively detected when the car doors are automatically opened / closed, realizing the obstacle avoidance function of the car doors.

[0068] In the related art, when the vehicle is powered on, the various sensors carried by the vehicle need to be started and initialized. The startup and initialization of some sensors used to realize the obstacle avoidance function of the door takes a long time. For example, it takes about 30 seconds to start and initialize the camera, that is, the camera needs to wait 30 seconds after the vehicle is powered on before it can work normally; while the startup and initialization of the ultrasonic radar only takes tens of milliseconds. In this way, for a period of time after the vehicle is powered on, some sensors fail to work normally, resulting in a significant decrease in the obstacle avoidance function of the door. If the door opens / closes automatically at this time, some obstacles around the door may not be detected, causing the door to collide with the obstacle, causing damage to the vehicle.

[0069] As an example, Figure 1 As shown, the door is provided with a camera and an ultrasonic radar near the B-pillar 120. Among them, the field of view (FOV) of the camera can reach 180°, so that obstacles around the door near the A-pillar 110 can also be detected. As mentioned above, when the vehicle is powered on, the vehicle central processor cannot start quickly, and the camera startup and initialization time is long. During this period, the camera cannot quickly provide images for obstacle detection. At the same time, the detection range of the ultrasonic radar is limited, resulting in that obstacles near the A-pillar cannot be detected before the camera works normally, and the obstacle avoidance function of the door is greatly reduced.

[0070] To this end, the present application provides a door control method, including: Figure 2 Steps shown:

[0071] Step 210: Responding to a power-off signal of the vehicle, acquiring and storing target information;

[0072] Wherein, the target information is used to determine whether there are obstacles around the vehicle door;

[0073] Step 220: In response to a power-on signal of the vehicle and a control command of the door, acquiring the stored target information to acquire obstacle information around the door;

[0074] Step 230: Execute the control instruction based on the obstacle information.

[0075] The vehicle may include one or more processors, and the types of processors include but are not limited to CPU (Central Processing Unit), GPU (Graphics Processing Unit), NPU (Neural Network Processing Unit), DPU (Deep Learning Processing Unit), etc. The number of each type of processor may be one or more. Thus, a door control method provided by the present application may be executed by the same processor in the vehicle, or may be executed collaboratively by different processors in the vehicle.

[0076] The vehicle may autonomously send a power-off signal when a preset power-off condition is met, and / or autonomously send a power-on signal when a preset power-on condition is met. As an example, when it is detected that there is no one in the vehicle within a preset time period and the driver is far away from the vehicle, the power-off condition is met, and the vehicle may autonomously send a power-off signal to shut down the vehicle. As an example, when the preset power-on time is reached and the power-on condition is met, the vehicle may autonomously send a power-on signal to put the vehicle into working state.

[0077] Alternatively, the power-off signal and / or power-on signal of the vehicle may be triggered by the user. For example, the user may trigger the power-off signal or power-on signal of the vehicle by pressing and / or touching a switch button provided on the vehicle; for another example, the user may control the power-off or power-on of the vehicle through the control device described above. Generally, the user may trigger the power-off signal of the vehicle to shut down the vehicle after parking; and may trigger the power-on signal of the vehicle to start the vehicle when the vehicle is needed.

[0078] In response to the vehicle's power-off signal, the target information is acquired and stored. The vehicle's power-off signal is usually used to trigger the vehicle's power-off process, so that each component in the vehicle stops working. The response to the vehicle's power-off signal can be understood as intercepting the vehicle's power-off signal, temporarily not executing the vehicle's power-off process, but first executing step 210. After completing step 210, the vehicle is shut down according to the normal power-off process.

[0079] The target information is used to determine whether there are obstacles around the door. The target information can be stored in a memory mounted on the vehicle or in other devices connected to the vehicle. The specific storage method of the target information will be described below and will not be expanded here.

[0080] When the vehicle's power-on signal is received, the various components of the vehicle can be controlled to start and initialize. When the control command of the vehicle door is received, the target information stored by the vehicle when the vehicle was powered off last time can be obtained. It is understandable that when the vehicle's power-on signal and the control command of the vehicle door are received, some sensors may have completed initialization and can work normally, and other sensors may not have completed initialization. Or all sensors have not completed initialization. In this way, before all sensors used to realize the obstacle avoidance function of the vehicle door are initialized, the obstacle avoidance of the vehicle door can be realized by executing steps 210-230. When all sensors are initialized, the obstacle avoidance function of the vehicle door can be realized by the sensors.

[0081] Since the target information can determine whether there is an obstacle around the door, obtaining the stored target information can obtain the obstacle information around the door. The obstacle information is used to describe the obstacle, which may include but is not limited to the location information of the obstacle, the relative distance information between the obstacle and the vehicle, the type information of the obstacle, etc.

[0082] Subsequently, the control command of the vehicle door can be executed based on the obstacle information. In some embodiments, if the obstacle information indicates that the distance between the vehicle door and the obstacle is greater than a preset threshold, it means that the obstacle is far from the vehicle door, and the control command can be executed. In other embodiments, if the obstacle information indicates that the distance between the vehicle door and the obstacle is less than a preset threshold, it means that the obstacle is close to the vehicle door, and the execution of the control command can be stopped to prevent the vehicle door from colliding with the obstacle. The preset threshold can be set by those skilled in the art according to actual needs, and this application does not limit it here.

[0083] In addition, when executing a control instruction, if some sensors that have not completed initialization before have completed initialization, the control instruction can be executed based on the real-time obstacle information collected by the sensor and the obstacle information obtained through the target information at the same time.

[0084] For example, in some scenarios, after the user parks the vehicle in the parking lot, the user triggers the vehicle's power-off signal to shut down the vehicle. When the power-off signal is detected, the target information is acquired and stored. When the user needs to use the vehicle, the vehicle's power-on signal is triggered to start the vehicle. Since the position of the vehicle does not change from power-off to power-on, it can be assumed that the obstacles near the door at the previous power-off are still near the door after this power-on. In this way, the above method can restore the scene before power-off after the vehicle is powered on, and when the sensor fails to work properly, the obstacle information can be obtained through the target information stored before power-off, thereby improving the obstacle avoidance effect of the door when the sensor is initialized.

[0085] In some scenarios, the vehicle may be towed away by a trailer during power-off due to vehicle failure or blocking the road, so the vehicle position changes during power-off to power-on. Therefore, in some embodiments, in response to the vehicle's power-off signal, the first position information of the vehicle is obtained and stored; in response to the vehicle's power-on signal, the second position information of the vehicle is obtained, and the first position information stored in history is read; if the first position information matches the second position information, for example, the difference is within a preset range, steps 220-230 are executed; if the first position information does not match the second position information, steps 220-230 are not executed. Among them, the first position information indicates the position information of the vehicle when it is powered off, and the second position information indicates the position information of the vehicle when it is powered on. The vehicle can obtain the first position information and / or the second position information through its own positioning module, such as the Global Navigation Satellite System (GNSS). Among them, in order to allow the vehicle to confirm whether the vehicle position has changed in time when it is powered on, the positioning module can be equipped with an independent power supply for power supply, and the switch control of the positioning module can be independent of the main switch of the vehicle, so that the vehicle's position information can be immediately obtained when the vehicle is started.

[0086] In this embodiment, by comparing whether the position information of the vehicle when it is powered off is consistent with that when it is powered on, it is further confirmed that the position of the vehicle has not changed during the period from power off to power on, thereby improving the accuracy of the door obstacle avoidance function.

[0087] Regarding the target information acquired and stored when the vehicle is powered off, the target information can determine whether there are obstacles around the vehicle door. In some embodiments, the target information includes obstacle information around the vehicle door. That is, in response to the vehicle power-off signal, the obstacle information around the vehicle door is acquired and stored; in response to the vehicle power-on signal and the control command of the vehicle door, the stored obstacle information is acquired, and the control command of the vehicle door is executed based on the acquired obstacle information.

[0088] Regarding obtaining and storing obstacle information around vehicle doors, in some embodiments, in response to a power-off signal of the vehicle, obstacle information around the vehicle doors is obtained based on sensors carried by the vehicle, and the obtained obstacle information is stored.

[0089] As described above, vehicles are usually equipped with various sensors to detect obstacles around vehicle doors. Therefore, obstacle information around vehicle doors can be obtained based on these sensors. Specifically, the obstacle information around vehicle doors can be obtained by processing sensor data collected by one or more sensors. When a power-off signal of the vehicle is received, the obstacle information around the vehicle doors can be obtained by the sensors carried by the vehicle, and the obtained obstacle information can be stored.

[0090] Regarding obtaining obstacle information around the vehicle door based on sensors mounted on the vehicle, in some embodiments, in response to a power-off signal of the vehicle, the sensor is called to obtain and store the obstacle information around the vehicle door.

[0091] When the vehicle's power-off signal is received, the power-off signal is intercepted to suspend the vehicle's power-off process, and the sensors on the vehicle are called, such as sensors that can be used to detect obstacles around the door. The sensors are called to detect and store obstacle information around the vehicle. Before the vehicle is powered off, the sensors on the vehicle are still in working condition and can collect sensor data normally. Therefore, the obstacle information obtained by the sensors is more comprehensive.

[0092] Regarding the storage method of obstacle information, in some embodiments, in response to a power-off signal of the vehicle, a sensor is called, and the obstacle information obtained by the sensor can be stored in a non-volatile memory.

[0093] Non-volatile memory is a type of memory that does not lose data after the computer is turned off. Therefore, after the obstacle information is stored in the non-volatile memory before the vehicle is powered off, the obstacle information stored before the last power-off can still be read from the non-volatile memory when the vehicle is powered on. Among them, non-volatile memory may include but is not limited to EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), etc. In this way, in response to the vehicle's power-on signal and the door control command, the stored obstacle information can be read from the non-volatile memory.

[0094] Thus, based on the above embodiments, the present application provides a door control method, including: Figure 3A Steps shown:

[0095] Step 311: In response to a power-off signal of the vehicle, calling a sensor carried by the vehicle, and storing obstacle information acquired by the sensor in a non-volatile memory;

[0096] Step 321: Reading the stored obstacle information from the non-volatile memory in response to the power-on signal of the vehicle and the control command of the door;

[0097] Step 331: Execute the control instruction based on the obstacle information.

[0098] The specific implementation methods of the above steps refer to the above embodiments, and this application will not go into details here.

[0099] Regarding the storage method of obstacle information, in some embodiments, in response to a power-off signal of the vehicle, a sensor is called, and the obstacle information obtained by the sensor can be uploaded to a server.

[0100] The vehicle can upload obstacle information to a server for storage via networking. For example, the server can be a cloud server. In this way, in response to a power-on signal of the vehicle and a control instruction of a door, obstacle information can be downloaded from the server. Specifically, an information request can be sent to the server, and the information request is used to request the uploaded obstacle information. The server responds to the information request and sends the obstacle information to the vehicle, thereby completing the process of the vehicle downloading the obstacle information from the server.

[0101] Thus, based on the above embodiments, the present application provides a door control method, including: Figure 3B Steps shown:

[0102] Step 312: In response to the power-off signal of the vehicle, calling the sensor carried by the vehicle, and uploading the obstacle information obtained by the sensor to the server;

[0103] Step 322: In response to the power-on signal of the vehicle and the control command of the door, downloading the stored obstacle information from the server;

[0104] Step 332: Execute the control instruction based on the obstacle information.

[0105] The specific implementation methods of the above steps refer to the above embodiments, and this application will not go into details here.

[0106] Regarding the storage method of obstacle information, in other embodiments, the vehicle and the fixed equipment around the vehicle may be equipped with a V2X (Vehicle to X, wireless communication technology for vehicles). In this way, in response to the power-off signal of the vehicle, the sensor is called, and the vehicle can send the obstacle information obtained by the sensor to the fixed equipment through the V2X communication device to store the obstacle information in the fixed equipment.

[0107] V2X means vehicle to everything, which means that the vehicle is the center and communicates with surrounding vehicles, equipment, and base stations to obtain a series of traffic information such as real-time traffic conditions, road information, and pedestrian information. V2X can include vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication, vehicle-to-external network (V2N) communication, etc.

[0108] If the vehicle is equipped with a V2X communication device (including a receiver and a transmitter), it can communicate with other devices that are also equipped with a V2X communication device using V2X technology. In this embodiment, the vehicle and the fixed equipment around the vehicle are equipped with V2X communication devices. Among them, the fixed equipment around the vehicle can refer to fixed and immovable electronic devices within a preset distance range from the vehicle, such as traffic lights, toll collection equipment in parking lots, monitoring equipment in parking lots, etc. In this way, the vehicle can send the obstacle information obtained based on the sensor to the fixed device for storage through the V2X communication device. Then, in response to the power-on signal with the vehicle and the control command of the door, the obstacle information stored in the fixed device can be obtained through the V2X communication device. Specifically, an information request can be sent to the fixed device through the V2X communication device, and the information request is used to request the stored obstacle information. In response to the request information, the fixed device sends the obstacle information to the vehicle through the V2X communication device, thereby completing the process of the vehicle obtaining the stored obstacle information from the fixed device.

[0109] like Figure 4 In the illustrated scenario, a vehicle 410 is equipped with a V2X communication device 411 and is parked in a parking lot. Within the preset range of the vehicle 410, the charging device 420 is equipped with a V2X communication device 421, and the monitoring device 430 is equipped with a V2X communication device 431. In this way, the vehicle 410 can communicate with the charging device 420 and the monitoring device 430 using V2X technology respectively. When the power-off signal of the vehicle 410 is triggered, the sensor is called to obtain the obstacle information of the pillars 441-442 near the door. The obstacle information is sent to the charging device 420 and / or the monitoring device 430 through the V2X communication device 411 for storage. When the vehicle 410 is powered on and receives the control command of the door, the stored obstacle information is obtained from the charging device 420 and / or the monitoring device 430. Of course, there may be other devices equipped with V2X communication devices in the parking lot, such as other vehicles. However, considering the issue of device mobility, storing obstacle information in an immovable fixed device can ensure that the obstacle information will not be lost due to the movement of the device.

[0110] In some embodiments, when the vehicle 410 is detected to have left the parking lot, the obstacle information stored in the fixed device, ie, the charging device 420 and / or the monitoring device 430 may be deleted.

[0111] Thus, based on the above embodiments, the present application provides a door control method, including: Figure 3C Steps shown:

[0112] Step 313: In response to the power-off signal of the vehicle, calling the sensor carried by the vehicle, and sending the obstacle information obtained by the sensor to the fixed device through the V2X communication device;

[0113] Step 323: Responding to the power-on signal of the vehicle and the control command of the door, obtaining obstacle information stored in the fixed device through the V2X communication device;

[0114] Step 333: Execute the control instruction based on the obstacle information.

[0115] The specific implementation methods of the above steps refer to the above embodiments, and this application will not go into details here.

[0116] Regarding obtaining obstacle information around the vehicle door based on sensors mounted on the vehicle, in some embodiments, in response to a power-off signal of the vehicle, obstacle information obtained based on the sensors when controlling the opening or closing of the vehicle door is stored.

[0117] For vehicles with automatic door opening and closing functions, after parking, the user controls the door to open automatically and get off the vehicle, and then controls the door to close and triggers the vehicle's power-off signal. Each time the door is controlled to open or close, obstacle information can be obtained based on the sensor. When the vehicle's power-off signal is received, the obstacle information obtained based on the sensor when the door was last opened or closed can be stored. In this embodiment, when the vehicle's power-off signal is received, the power-off signal is intercepted, and then the obstacle information obtained when the door was last opened or closed is stored. Since the information storage process requires less time, compared with the embodiment in which the sensor is re-called after the power-off signal is intercepted to obtain the obstacle information, this embodiment only takes a shorter time to complete the storage of the obstacle information after intercepting the power-off signal, saving the time of re-calling the sensor and using the sensor to obtain the obstacle information, and will not have a significant impact on the time required for the entire power-off process of the vehicle.

[0118] Regarding the obstacle information obtained based on the sensor when the vehicle door is controlled to be opened or closed, in some embodiments, the obstacle information obtained based on the sensor is stored in the volatile memory when the vehicle door is controlled to be opened or closed. In response to the power-off signal of the vehicle, the obstacle information in the volatile memory is stored in the non-volatile memory. Among them, the volatile memory is a memory whose data will be lost after the computer is turned off, including but not limited to SRAM (Static RAM), DRAM (Dynamic RAM), etc. In this way, in response to the power-on signal of the vehicle and the control instruction of the door, the stored obstacle information can be read from the non-volatile memory.

[0119] Since obstacle information can be obtained based on sensors every time the door is opened or closed, each time the door is opened or closed, the vehicle's power-off signal may not be triggered, that is, the obstacle information obtained each time the door is opened or closed may not be used for obstacle avoidance when the door is powered on next time. At the same time, since non-volatile memory can only be written a limited number of times, if the obstacle information obtained each time the door is opened or closed is stored in the non-volatile memory, it will obviously greatly increase the number of writes to the non-volatile memory, thereby reducing the life of the non-volatile memory.

[0120] Thus, in this embodiment, it is designed to first store the obstacle information obtained each time the door is opened or closed in the volatile memory. Compared with the non-volatile memory, the volatile memory has no limit on the number of writes. Then, when the vehicle's power-off signal is received, the obstacle information in the volatile memory is stored in the non-volatile memory.

[0121] In some embodiments, after the obstacle information acquired based on the sensor is stored in the volatile memory, the obstacle information stored in the volatile memory is deleted in response to a driving instruction of the vehicle.

[0122] After the obstacle information obtained when the door is opened or closed is stored in the volatile memory, if a vehicle driving command is received, it means that the position of the vehicle has changed. After the vehicle position has changed, the obstacle information obtained when the door was opened or closed last time cannot be used for door obstacle avoidance when the vehicle is powered on next time, so the obstacle information in the volatile memory can be deleted.

[0123] Thus, based on the above embodiments, the present application provides a door control method, including: Figure 5A Steps shown:

[0124] Step 511: When controlling the door to be opened or closed, storing obstacle information acquired based on the sensor into a volatile memory;

[0125] Step 521: In response to a power-off signal of the vehicle, storing the obstacle information in the volatile memory into a non-volatile memory;

[0126] Step 531: In response to a power-on signal of the vehicle and a control command of the vehicle door, reading the stored obstacle information from the non-volatile memory, and executing the control command based on the obstacle information;

[0127] Step 541: In response to the vehicle's driving instruction, delete the obstacle information stored in the volatile memory.

[0128] The specific implementation methods of the above steps refer to the above embodiments, and this application will not go into details here.

[0129] Regarding the obstacle information obtained based on the sensor when the vehicle door is controlled to be opened or closed, in some embodiments, the obstacle information obtained based on the sensor is stored in the volatile memory when the vehicle door is controlled to be opened or closed. In response to the power-off signal of the vehicle, the obstacle information in the volatile memory is uploaded to the server.

[0130] The vehicle can upload obstacle information to a server for storage via networking. For example, the server can be a cloud server. In this way, in response to a power-on signal of the vehicle and a control instruction of a door, obstacle information can be downloaded from the server. Specifically, an information request can be sent to the server, and the information request is used to request the uploaded obstacle information. The server responds to the information request and sends the obstacle information to the vehicle, thereby completing the process of the vehicle downloading the obstacle information from the server.

[0131] Thus, based on the above embodiments, the present application provides a door control method, including: Figure 5B Steps shown:

[0132] Step 512: When controlling the door to be opened or closed, storing the obstacle information obtained based on the sensor into a volatile memory;

[0133] Step 522: In response to a power-off signal of the vehicle, uploading the obstacle information in the volatile memory to a server;

[0134] Step 532: In response to a power-on signal of the vehicle and a control instruction of the vehicle door, download the stored obstacle information from the server, and execute the control instruction based on the obstacle information.

[0135] Step 542: In response to the vehicle's driving instruction, delete the obstacle information stored in the volatile memory.

[0136] The specific implementation methods of the above steps refer to the above embodiments, and this application will not go into details here.

[0137] Regarding the obstacle information obtained based on the sensor when controlling the door to be opened or closed, in other embodiments, the vehicle and the fixed equipment around the vehicle may be equipped with a V2X communication device. In this way, when controlling the door to be opened or closed, the obstacle information obtained based on the sensor is stored in the volatile memory. In response to the power-off signal of the vehicle, the obstacle information in the volatile memory is sent to the fixed equipment through the V2X communication device to store the obstacle information in the fixed equipment.

[0138] As in Figure 4In the scenario shown, after parking, the user controls the door to open automatically and gets off the vehicle, then controls the door to close and triggers the power-off signal of the vehicle 410. During the process of the door closing automatically, the obstacle information of the pillars 441-442 near the door can be obtained based on the sensor, and then the obstacle information is stored in the volatile memory. When the power-off signal of the vehicle 410 is triggered, the obstacle information in the volatile memory is sent to the charging device 420 and / or the monitoring device 430 through the V2X communication device 411 for storage. When the vehicle 410 is powered on and receives the control command of the door, the stored obstacle information is obtained from the charging device 420 and / or the monitoring device 430. Specifically, the vehicle 410 can send an information request to the charging device 420 and / or the monitoring device 430 through the V2X communication device 411, and the information request is used to request the stored obstacle information. In response to the request information, the charging device 420 and / or the monitoring device 430 sends the obstacle information to the vehicle 410 through the V2X communication device 421 and / or 422, thereby completing the process of the vehicle 410 obtaining the obstacle information.

[0139] Thus, based on the above embodiments, the present application provides a door control method, including: Figure 5C Steps shown:

[0140] Step 513: When controlling the door to be opened or closed, the obstacle information acquired based on the sensor is stored in the volatile memory;

[0141] Step 523: In response to the power-off signal of the vehicle, the obstacle information in the volatile memory is sent to the fixed device through the V2X communication device;

[0142] Step 533: In response to the power-on signal of the vehicle and the control command of the vehicle door, the obstacle information stored in the fixed device is obtained through the V2X communication device, and the control command is executed based on the obstacle information.

[0143] Step 543: In response to the vehicle's driving instruction, delete the obstacle information stored in the volatile memory.

[0144] The specific implementation methods of the above steps refer to the above embodiments, and this application will not go into details here.

[0145] The above embodiment provides that when a vehicle power-off signal is received, obstacle information around the door is obtained based on sensors carried by the vehicle, and the obstacle information is stored using multiple methods, so that when the vehicle is powered on next time, the obstacle information stored before the power-off can be used to avoid door obstacles.

[0146] Regarding obtaining and storing obstacle information around the vehicle door, in other embodiments, the vehicle is equipped with a V2X communication device, which can communicate with other devices that are also equipped with a V2X communication device. In response to the vehicle's power-off signal, the vehicle obtains obstacle information around the vehicle door from other devices equipped with a V2X communication device based on the V2X communication device carried by the vehicle, and stores the obstacle information.

[0147] Due to the lack of visibility of on-board sensors such as cameras and radars, obstacles detected by sensors may not be comprehensive enough. In order to make up for the lack of visibility of sensors, in addition to obtaining obstacle information through its own sensors, vehicles can also obtain obstacle information from other devices based on V2X technology to improve the vehicle's perception capabilities. Among them, other devices include immovable fixed devices, such as traffic lights, toll collection devices in parking lots, and monitoring devices in parking lots; they also include movable non-fixed devices, such as vehicles.

[0148] Other devices may store information about obstacles within a certain spatial range. Figure 4 In the scenario of, the charging device 420 and / or the monitoring device 430 may pre-store the obstacle information of the pillar 441 and / or the pillar 442. In this way, when the power-off signal of the vehicle 410 is received, the vehicle 410 can obtain the obstacle information from the charging device 420 and / or the monitoring device 430 through the V2X communication device 411. In addition, if there are other vehicles around the vehicle 410, the obstacle information can also be obtained from the other vehicles, and the obstacle information at the other vehicles can be obtained based on the sensors carried by the other vehicles. Specifically, the vehicle 410 can send an information request to other devices (including the charging device 420, the monitoring device 430 and other vehicles) through the V2X communication device 411, and the information request is used to request the obstacle information stored by other devices. In response to the request information, the other devices send the obstacle information to the vehicle 410 through the V2X communication device. After obtaining the obstacle information sent by other devices, the vehicle can store the obstacle information in a non-volatile memory or upload it to a server for storage.

[0149] Of course, the vehicle can also obtain obstacle information around the door based on its own sensors and through other devices, making the obstacle information obtained more comprehensive and improving the obstacle avoidance effect of the door.

[0150] Thus, based on the above embodiments, the present application provides a door control method, including: Figure 6 Steps shown:

[0151] Step 610: In response to the power-off signal of the vehicle, obtaining obstacle information around the door from other devices equipped with the V2X communication device based on the V2X communication device carried by the vehicle, and storing the obstacle information;

[0152] Step 620: Responding to a power-on signal of the vehicle and a control command of the vehicle door, acquiring stored obstacle information;

[0153] Step 630: Execute the control instruction based on the obstacle information.

[0154] The specific implementation methods of the above steps refer to the above embodiments, and this application will not go into details here.

[0155] In this embodiment, when the vehicle is powered off, the vehicle obtains obstacle information around the door from other devices based on V2X technology. The vehicle can collect obstacle information in different ways, which makes up for the defect of insufficient line of sight of the on-board sensor, so that the vehicle can avoid obstacles based on more comprehensive obstacle information when the door is opened or closed after power is restored.

[0156] In any of the above embodiments, the sensor mounted on the vehicle may include an image acquisition device. The image acquired by the image acquisition device may be used to detect obstacles around the vehicle door to achieve the obstacle avoidance function of the vehicle door. When obtaining obstacle information around the vehicle door based on the sensor mounted on the vehicle, such as the image acquisition device, the following may be included: Figure 7 Steps shown:

[0157] Step 710: performing image recognition on the image captured by the image acquisition device to identify obstacles around the vehicle door;

[0158] Step 720: Determine that information of fixed obstacles among the identified obstacles is the obstacle information.

[0159] Obstacles around the door include immovable fixed obstacles, such as pillars, sign poles, etc.; and movable obstacles, such as pedestrians, fallen branches, etc. In the present application, the characteristic that the position of the vehicle will not change after powering off and before powering on is utilized, and it is considered that obstacles near the door when powering off are still near the door after the vehicle is powered on. Therefore, the obstacle information obtained before the vehicle is powered off is used as the basis for avoiding obstacles at the door after the vehicle is powered on. However, for movable obstacles, if movable obstacles are detected around the door before the vehicle is powered off, the obstacle may not still be around the door when the vehicle is powered on next time. If the information of non-fixed obstacles is also stored when the vehicle is powered off, and the non-fixed obstacles are no longer around the door when the vehicle is powered on again, the opening or closing of the door will be interfered. Therefore, when the vehicle needs to obtain obstacle information based on the sensor when powering off, the image captured by the image acquisition device can be used for image recognition to identify the obstacles around the door, and then the information of fixed obstacles among the identified obstacles is determined as obstacle information and stored. For example, using image recognition technology, obstacles around the car door, such as concrete pillars and pedestrians, can be identified. Based on the type of obstacles identified, it can be determined that the concrete pillar is a fixed obstacle, and the concrete pillar will still be around the car door when the vehicle is powered on next time, so its obstacle information can be stored, including the location of the obstacle, the distance from the vehicle, the name of the obstacle, the type of obstacle, etc. Pedestrians are movable obstacles, and may not be around the car door when the vehicle is powered on next time, so you can choose not to store their obstacle information, or you can choose to store their obstacle information.

[0160] Figure 7 The described embodiments can be combined with any of the above embodiments. Figure 3A-3C In the described embodiment, in response to a power-off signal of the vehicle, a sensor mounted on the vehicle is called. Obstacles around the vehicle door are determined based on sensor data collected by the sensor. The image collected by the image sensor can be image recognized to determine a fixed obstacle among the obstacles around the vehicle door, and the information of the fixed obstacle is stored as obstacle information.

[0161] For example, Figure 5A-Figure 5C In the described embodiment, when controlling the opening or closing of the vehicle door, obstacles around the vehicle door are determined based on sensor data collected by the vehicle-mounted sensor. The image collected by the image sensor can be image recognized to determine fixed obstacles among the obstacles around the vehicle door. When receiving a power-off signal of the vehicle, the information of the fixed obstacles is stored as obstacle information.

[0162] In addition, Figure 6In the described embodiment, in response to the vehicle power-off signal, the obstacle information obtained from other devices based on V2X technology may include fixed obstacle information and non-fixed obstacle information. Figure 4 In the scenario of, the charging device 420 and / or the monitoring device 430 may pre-store information on immovable fixed obstacles (pillars 411-442) in the parking lot. In addition, the charging device 420 and / or the monitoring device 430 may be equipped with sensors for obtaining obstacle information around them. Then, the obstacle information obtained based on the sensor will include information on non-fixed obstacles. In this way, the obstacle information obtained by the vehicle 410 from the charging device 420 and / or the monitoring device 430 will include information on fixed obstacles and non-fixed obstacles. Similarly, if the vehicle 410 obtains obstacle information from other vehicles (not shown in the figure), since the obstacle information stored by other vehicles may be based on the obstacle information obtained by their on-board sensors, these obstacle information may contain information on non-fixed obstacles, such as pedestrian information detected by other vehicles, so the obstacle information obtained from other vehicles may include information on fixed obstacles and non-fixed obstacles. Furthermore, the vehicle 410 may distinguish between fixed obstacles and non-fixed obstacles based on name information or type information of the obstacles recorded in the acquired obstacle information, and store the information of the fixed obstacles as obstacle information.

[0163] In addition, in addition to determining fixed obstacles by performing image recognition on images, fixed obstacles and non-fixed obstacles can also be distinguished by judging whether the same target object has moved in multiple consecutive images captured by the image sensor. Specifically, the judgment can be made based on whether the pixel position of the same target object in at least two consecutive images has changed. For the specific judgment process, please refer to the relevant technology, which will not be expanded in this application.

[0164] In this embodiment, in response to the vehicle's power-off signal, the vehicle distinguishes between fixed obstacles and non-fixed obstacles when acquiring obstacle information, and determines that the information of fixed obstacles is obstacle information and stores it. This allows the vehicle to refer to the information of fixed obstacles when it is powered on again to implement the obstacle avoidance function of the door, eliminating the interference of non-fixed obstacles.

[0165] In any of the above embodiments, in response to the vehicle's power-off signal, the target information acquired and stored includes obstacle information around the door, and the obstacle information can be acquired based on the vehicle's own sensors, or can be acquired from other devices using V2X technology. Taking advantage of the fact that the position of the vehicle does not change after powering off and before powering on, it can be assumed that obstacles near the door when the power is off are still near the door after powering on. By recording the obstacle information around the door when the vehicle is powered off, when the vehicle is powered on again, even if the sensor fails to work properly, the obstacle avoidance function of the door can be realized through the obstacle information stored before powering off, thereby improving the obstacle avoidance effect of the door when the sensor is initialized.

[0166] Regarding the target information acquired and stored when the vehicle is powered off, the target information can determine whether there are obstacles around the door. In other embodiments, the vehicle and surrounding fixed equipment are equipped with V2X communication devices. Then, the target information includes identification information of the fixed equipment. In this way, the present application provides a door control method, including the following: Figure 8 Steps shown:

[0167] Step 810: Responding to a power-off signal of the vehicle, acquiring and storing identification information of the fixed device;

[0168] Step 820: In response to the power-on signal of the vehicle and the control command of the door, an information request is sent to the fixed device indicated by the identification information through the V2X communication device;

[0169] Step 830: receiving obstacle information sent by the fixed device in response to the information request through the V2X communication device;

[0170] Step 840: Execute the control instruction based on the obstacle information.

[0171] When receiving the power-off signal of the vehicle, the vehicle can establish a communication connection with a fixed device that is also equipped with a V2X communication device within a preset range based on the V2X communication device, and obtain its identification information. The identification information of the fixed device can be an identification such as a product serial number that is used to mark the uniqueness of the fixed device. The vehicle can store the identification information in a non-volatile memory and / or upload it to a server for storage.

[0172] When the vehicle's power-on signal and the door control command are received, an information request can be sent to the fixed device indicated by the identification information through the V2X communication device, and the information request is used to request the obstacle information stored in the fixed device.

[0173] The fixed device may pre-store information about fixed obstacles within a certain spatial range. In addition, the fixed device may be equipped with sensors for obtaining obstacle information around it. Therefore, the fixed device may also obtain obstacle information based on the sensor. In this way, in response to the request information, the fixed device may send the information about fixed obstacles it has pre-stored, as well as the information including non-fixed obstacles collected in real time based on the sensors it carries, to the vehicle as obstacle information. It is worth noting that the fixed device may be set around the vehicle door, so the fixed device may also be an obstacle around the vehicle door, so the fixed device may also send its own information to the vehicle as obstacle information.

[0174] In this embodiment, the vehicle obtains and stores the identification information of the surrounding fixed equipment when the power is turned off, and obtains the obstacle information from the fixed equipment through the identification information when the vehicle is powered on again. It is worth noting that although the vehicle can also use V2X technology to communicate with other vehicles, considering the mobility of other vehicles, other vehicles around the vehicle when the power is turned off may have driven away when the vehicle is powered on again. Therefore, what is recorded when the vehicle is powered off is the identification information of the fixed equipment. At the same time, if the fixed equipment is equipped with sensors, the sensors of the fixed equipment can be used to detect obstacles around the door in real time. Therefore, even when the vehicle is just powered on and the on-board sensors have not yet completed initialization, the fixed equipment around the vehicle can be used to obtain the pre-stored fixed obstacle information, or obtain the real-time detected obstacle information, which improves the obstacle avoidance effect of the door when the on-board sensors are initialized.

[0175] Based on a door control method described in any of the above embodiments, the present application also provides Fig. 9 A structural schematic diagram of a door control device is shown in FIG. Fig. 9 At the hardware level, the vehicle door control device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement a vehicle door control method described in any of the above embodiments.

[0176] Based on a door control method described in any of the above embodiments, the present application also provides Fig.10 A vehicle door control device 1000 shown includes:

[0177] The power-off module 1010 is used to obtain and store target information in response to a power-off signal of the vehicle; wherein the target information is used to determine whether there is an obstacle around the vehicle door;

[0178] A power-on module 1020, configured to obtain the stored target information to obtain obstacle information around the vehicle door in response to a power-on signal of the vehicle and a control instruction of the vehicle door;

[0179] The control module 1030 is used to execute the control instruction based on the obstacle information.

[0180] The specific implementation methods of the above-mentioned functional modules are shown in the above embodiments, and this application will not go into details here.

[0181] Based on a vehicle door control method described in any of the above embodiments, the present application also provides a computer program product, including a computer program, which can be used to execute a vehicle door control method described in any of the above embodiments when executed by a processor.

[0182] Based on a door control method described in any of the above embodiments, the present application also provides Fig.11 A schematic diagram of the structure of a vehicle is shown in FIG. Fig.11 At the hardware level, the vehicle includes a vehicle body; a power assembly for driving the vehicle; a vehicle door; a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and of course may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement a vehicle door control method described in any of the above embodiments.

[0183] Based on a vehicle door control method described in any of the above embodiments, the present application also provides a computer storage medium, which stores a computer program. When the computer program is executed by a processor, it can be used to execute a vehicle door control method described in any of the above embodiments.

[0184] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0185] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the inventions claimed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary techniques in the art that are not claimed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

Claims

1. A door control method, characterized in that: The method comprises: When controlling the door to be opened or closed, obtaining obstacle information and storing it in a volatile memory; In response to a power-off signal of the vehicle, storing the obstacle information in the volatile memory into a non-volatile memory; In response to a power-on signal of the vehicle and a control command of the vehicle door, reading the stored obstacle information from the non-volatile memory, and executing the control command based on the obstacle information; In response to a driving instruction of the vehicle, the obstacle information stored in the volatile memory is deleted.

2. The method according to claim 1, characterized in that The obstacle information includes obstacle information around the vehicle door; and obtaining the obstacle information includes: Obtaining obstacle information around the door based on sensors carried by the vehicle; and / or Obstacle information around the vehicle door is obtained from other devices equipped with a V2X communication device based on the V2X communication device carried by the vehicle.

3. The method according to claim 1, characterized in that The vehicle and surrounding fixed equipment are equipped with V2X communication devices, and the storing of the obstacle information further includes: sending the obstacle information to the fixed device through the V2X communication device, so as to store the obstacle information in the fixed device; The obtaining of the obstacle information includes: sending an information request to the fixed device through the V2X communication device; Obstacle information sent by the fixed device in response to the information request is received through the V2X communication device.

4. The method according to claim 2, characterized in that: The sensor at least includes an image acquisition device; the obtaining of obstacle information around the door based on the sensor carried by the vehicle includes: Performing image recognition on the image captured by the image acquisition device to identify obstacles around the vehicle door; The information of the fixed obstacles among the identified obstacles is determined as the obstacle information.

5. The method according to claim 1, characterized in that The executing the control instruction based on the obstacle information includes: If the obstacle information indicates that the distance between the vehicle door and the obstacle is greater than a preset threshold, executing the control instruction; If the obstacle information indicates that the distance is less than the threshold, stop executing the control instruction.

6. A vehicle, characterized in that: The vehicle comprises: Car body; A power assembly, used to drive the vehicle to move; Car doors; processor; a memory for storing processor-executable instructions; Wherein, when the processor calls the executable instructions, it implements the operation of any method described in claims 1-5.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a plurality of computer instructions, and when the computer instructions are executed, the method according to any one of claims 1 to 5 is performed.

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